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  <div class="section" id="pypcd-package">
<h1>pypcd package<a class="headerlink" href="#pypcd-package" title="Permalink to this headline">¶</a></h1>
<div class="section" id="submodules">
<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline">¶</a></h2>
</div>
<div class="section" id="module-pypcd.nea_pc_format">
<span id="pypcd-nea-pc-format-module"></span><h2>pypcd.nea_pc_format module<a class="headerlink" href="#module-pypcd.nea_pc_format" title="Permalink to this headline">¶</a></h2>
<dl class="function">
<dt id="pypcd.nea_pc_format.datatype_to_size">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">datatype_to_size</code><span class="sig-paren">(</span><em>datatype</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#datatype_to_size"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.datatype_to_size" title="Permalink to this definition">¶</a></dt>
<dd><p>ROS pointfield datatype to size in bytes</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.nea_pc_format.field_dict_list_to_dtypes">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">field_dict_list_to_dtypes</code><span class="sig-paren">(</span><em>field_dicts</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#field_dict_list_to_dtypes"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.field_dict_list_to_dtypes" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.nea_pc_format.field_dict_list_to_pcd_metadata">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">field_dict_list_to_pcd_metadata</code><span class="sig-paren">(</span><em>field_dict_list</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#field_dict_list_to_pcd_metadata"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.field_dict_list_to_pcd_metadata" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.nea_pc_format.make_nea_dtypes">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">make_nea_dtypes</code><span class="sig-paren">(</span><em>with_label=True</em>, <em>with_padding=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#make_nea_dtypes"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.make_nea_dtypes" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.nea_pc_format.make_nea_fields_dicts">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">make_nea_fields_dicts</code><span class="sig-paren">(</span><em>with_label=True</em>, <em>with_padding=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#make_nea_fields_dicts"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.make_nea_fields_dicts" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.nea_pc_format.make_nea_float_dtypes">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">make_nea_float_dtypes</code><span class="sig-paren">(</span><em>with_label=True</em>, <em>with_padding=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#make_nea_float_dtypes"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.make_nea_float_dtypes" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.nea_pc_format.make_nea_float_fields_dicts">
<code class="descclassname">pypcd.nea_pc_format.</code><code class="descname">make_nea_float_fields_dicts</code><span class="sig-paren">(</span><em>with_label=True</em>, <em>with_padding=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/nea_pc_format.html#make_nea_float_fields_dicts"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.nea_pc_format.make_nea_float_fields_dicts" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

</div>
<div class="section" id="module-pypcd.numpy_pc2">
<span id="pypcd-numpy-pc2-module"></span><h2>pypcd.numpy_pc2 module<a class="headerlink" href="#module-pypcd.numpy_pc2" title="Permalink to this headline">¶</a></h2>
<p>Functions for working with PointCloud2.</p>
<dl class="function">
<dt id="pypcd.numpy_pc2.arr_to_fields">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">arr_to_fields</code><span class="sig-paren">(</span><em>cloud_arr</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#arr_to_fields"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.arr_to_fields" title="Permalink to this definition">¶</a></dt>
<dd><p>Convert a numpy record datatype into a list of PointFields.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.array_to_pointcloud2">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">array_to_pointcloud2</code><span class="sig-paren">(</span><em>cloud_arr</em>, <em>stamp=None</em>, <em>frame_id=None</em>, <em>merge_rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#array_to_pointcloud2"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.array_to_pointcloud2" title="Permalink to this definition">¶</a></dt>
<dd><p>Converts a numpy record array to a sensor_msgs.msg.PointCloud2.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.array_to_xyz_pointcloud2">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">array_to_xyz_pointcloud2</code><span class="sig-paren">(</span><em>cloud_arr</em>, <em>stamp=None</em>, <em>frame_id=None</em>, <em>merge_rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#array_to_xyz_pointcloud2"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.array_to_xyz_pointcloud2" title="Permalink to this definition">¶</a></dt>
<dd><p>convert an Nx3 float array to an xyz point cloud.
preserves (scalar) dtype of input.
TODO: untested</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.array_to_xyz_pointcloud2f">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">array_to_xyz_pointcloud2f</code><span class="sig-paren">(</span><em>cloud_arr</em>, <em>stamp=None</em>, <em>frame_id=None</em>, <em>merge_rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#array_to_xyz_pointcloud2f"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.array_to_xyz_pointcloud2f" title="Permalink to this definition">¶</a></dt>
<dd><p>convert an Nx3 float array to an xyz point cloud.
beware of numerical issues when casting from other types to float32.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.array_to_xyzi_pointcloud2f">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">array_to_xyzi_pointcloud2f</code><span class="sig-paren">(</span><em>cloud_arr</em>, <em>stamp=None</em>, <em>frame_id=None</em>, <em>merge_rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#array_to_xyzi_pointcloud2f"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.array_to_xyzi_pointcloud2f" title="Permalink to this definition">¶</a></dt>
<dd><p>convert an Nx4 float array to an xyzi point cloud.
beware of numerical issues when casting from other types to float32.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.array_to_xyzl_pointcloud2f">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">array_to_xyzl_pointcloud2f</code><span class="sig-paren">(</span><em>cloud_arr</em>, <em>stamp=None</em>, <em>frame_id=None</em>, <em>merge_rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#array_to_xyzl_pointcloud2f"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.array_to_xyzl_pointcloud2f" title="Permalink to this definition">¶</a></dt>
<dd><p>convert an Nx4 float array to an xyzi point cloud.
beware of numerical issues when casting from other types to float32.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.arrays_to_xyzi_pointcloud2f">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">arrays_to_xyzi_pointcloud2f</code><span class="sig-paren">(</span><em>cloud_arr</em>, <em>intensity_array</em>, <em>stamp=None</em>, <em>frame_id=None</em>, <em>merge_rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#arrays_to_xyzi_pointcloud2f"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.arrays_to_xyzi_pointcloud2f" title="Permalink to this definition">¶</a></dt>
<dd><p>convert an Nx3 float array and N array to an xyzi point cloud.
beware of numerical issues when casting from other types to float32.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.get_xyz_points">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">get_xyz_points</code><span class="sig-paren">(</span><em>cloud_array</em>, <em>remove_nans=True</em>, <em>dtype=&lt;type 'float'&gt;</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#get_xyz_points"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.get_xyz_points" title="Permalink to this definition">¶</a></dt>
<dd><p>Pulls out x, y, and z columns from the cloud recordarray, and returns
a 3xN matrix.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.merge_rgb_fields">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">merge_rgb_fields</code><span class="sig-paren">(</span><em>cloud_arr</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#merge_rgb_fields"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.merge_rgb_fields" title="Permalink to this definition">¶</a></dt>
<dd><p>Takes an array with named np.uint8 fields ‘r’, ‘g’, and ‘b’, and returns an array in
which they have been merged into a single np.float32 ‘rgb’ field. The first byte of this
field is the ‘r’ uint8, the second is the ‘g’, uint8, and the third is the ‘b’ uint8.</p>
<p>This is the way that pcl likes to handle RGB colors for some reason.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.pointcloud2_to_array">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">pointcloud2_to_array</code><span class="sig-paren">(</span><em>cloud_msg</em>, <em>split_rgb=False</em>, <em>remove_padding=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#pointcloud2_to_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.pointcloud2_to_array" title="Permalink to this definition">¶</a></dt>
<dd><p>Converts a rospy PointCloud2 message to a numpy recordarray</p>
<p>Reshapes the returned array to have shape (height, width), even if the height is 1.</p>
<p>The reason for using np.fromstring rather than struct.unpack is speed… especially
for large point clouds, this will be &lt;much&gt; faster.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.pointcloud2_to_dtype">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">pointcloud2_to_dtype</code><span class="sig-paren">(</span><em>cloud_msg</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#pointcloud2_to_dtype"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.pointcloud2_to_dtype" title="Permalink to this definition">¶</a></dt>
<dd><p>Convert a list of PointFields to a numpy record datatype.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.pointcloud2_to_xyz_array">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">pointcloud2_to_xyz_array</code><span class="sig-paren">(</span><em>cloud_msg</em>, <em>remove_nans=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#pointcloud2_to_xyz_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.pointcloud2_to_xyz_array" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.pointfields_to_dtype">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">pointfields_to_dtype</code><span class="sig-paren">(</span><em>point_fields</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#pointfields_to_dtype"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.pointfields_to_dtype" title="Permalink to this definition">¶</a></dt>
<dd><p>Convert a list of PointFields to a numpy record datatype.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.numpy_pc2.split_rgb_field">
<code class="descclassname">pypcd.numpy_pc2.</code><code class="descname">split_rgb_field</code><span class="sig-paren">(</span><em>cloud_arr</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/numpy_pc2.html#split_rgb_field"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.numpy_pc2.split_rgb_field" title="Permalink to this definition">¶</a></dt>
<dd><p>Takes an array with a named ‘rgb’ float32 field, and returns an array in which
this has been split into 3 uint 8 fields: ‘r’, ‘g’, and ‘b’.</p>
<p>(pcl stores rgb in packed 32 bit floats)</p>
</dd></dl>

</div>
<div class="section" id="module-pypcd.pdutil">
<span id="pypcd-pdutil-module"></span><h2>pypcd.pdutil module<a class="headerlink" href="#module-pypcd.pdutil" title="Permalink to this headline">¶</a></h2>
<dl class="function">
<dt id="pypcd.pdutil.data_frame_to_message">
<code class="descclassname">pypcd.pdutil.</code><code class="descname">data_frame_to_message</code><span class="sig-paren">(</span><em>df</em>, <em>stamp=None</em>, <em>frame_id=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pdutil.html#data_frame_to_message"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pdutil.data_frame_to_message" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.pdutil.data_frame_to_point_cloud">
<code class="descclassname">pypcd.pdutil.</code><code class="descname">data_frame_to_point_cloud</code><span class="sig-paren">(</span><em>df</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pdutil.html#data_frame_to_point_cloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pdutil.data_frame_to_point_cloud" title="Permalink to this definition">¶</a></dt>
<dd><p>create a PointCloud object from a dataframe.</p>
</dd></dl>

</div>
<div class="section" id="module-pypcd.pypcd">
<span id="pypcd-pypcd-module"></span><h2>pypcd.pypcd module<a class="headerlink" href="#module-pypcd.pypcd" title="Permalink to this headline">¶</a></h2>
<p>Read and write PCL .pcd files in python.
<a class="reference external" href="mailto:dimatura&#37;&#52;&#48;cmu&#46;edu">dimatura<span>&#64;</span>cmu<span>&#46;</span>edu</a>, 2013-2018</p>
<ul class="simple">
<li>TODO better API for wacky operations.</li>
<li>TODO add a cli for common operations.</li>
<li>TODO deal properly with padding</li>
<li>TODO deal properly with multicount fields</li>
<li>TODO better support for rgb nonsense</li>
</ul>
<dl class="class">
<dt id="pypcd.pypcd.PointCloud">
<em class="property">class </em><code class="descclassname">pypcd.pypcd.</code><code class="descname">PointCloud</code><span class="sig-paren">(</span><em>metadata</em>, <em>pc_data</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud" title="Permalink to this definition">¶</a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Wrapper for point cloud data.</p>
<p>The variable members of this class parallel the ones used by
the PCD metadata (and similar to PCL and ROS PointCloud2 messages),</p>
<p><code class="docutils literal notranslate"><span class="pre">pc_data</span></code> holds the actual data as a structured numpy array.</p>
<p>The other relevant metadata variables are:</p>
<ul class="simple">
<li><code class="docutils literal notranslate"><span class="pre">version</span></code>: Version, usually .7</li>
<li><code class="docutils literal notranslate"><span class="pre">fields</span></code>: Field names, e.g. <code class="docutils literal notranslate"><span class="pre">['x',</span> <span class="pre">'y'</span> <span class="pre">'z']</span></code>.</li>
<li><code class="docutils literal notranslate"><span class="pre">size.`:</span> <span class="pre">Field</span> <span class="pre">sizes</span> <span class="pre">in</span> <span class="pre">bytes,</span> <span class="pre">e.g.</span> <span class="pre">``[4,</span> <span class="pre">4,</span> <span class="pre">4]</span></code>.</li>
<li><code class="docutils literal notranslate"><span class="pre">count</span></code>: Counts per field e.g. <code class="docutils literal notranslate"><span class="pre">[1,</span> <span class="pre">1,</span> <span class="pre">1]</span></code>. NB: Multi-count field
support is sketchy.</li>
<li><code class="docutils literal notranslate"><span class="pre">width</span></code>: Number of points, for unstructured point clouds (assumed by
most operations).</li>
<li><code class="docutils literal notranslate"><span class="pre">height</span></code>: 1 for unstructured point clouds (again, what we assume most
of the time.</li>
<li><code class="docutils literal notranslate"><span class="pre">viewpoint</span></code>: A pose for the viewpoint of the cloud, as
x y z qw qx qy qz, e.g. <code class="docutils literal notranslate"><span class="pre">[0.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0,</span> <span class="pre">1.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0]</span></code>.</li>
<li><code class="docutils literal notranslate"><span class="pre">points</span></code>: Number of points.</li>
<li><code class="docutils literal notranslate"><span class="pre">type</span></code>: Data type of each field, e.g. <code class="docutils literal notranslate"><span class="pre">[F,</span> <span class="pre">F,</span> <span class="pre">F]</span></code>.</li>
<li><code class="docutils literal notranslate"><span class="pre">data</span></code>: Data storage format. One of <code class="docutils literal notranslate"><span class="pre">ascii</span></code>, <code class="docutils literal notranslate"><span class="pre">binary</span></code> or <code class="docutils literal notranslate"><span class="pre">binary_compressed</span></code>.</li>
</ul>
<p>See <a class="reference external" href="http://pointclouds.org/documentation/tutorials/pcd_file_format.php">PCL docs</a>
for more information.</p>
<dl class="method">
<dt id="pypcd.pypcd.PointCloud.check_sanity">
<code class="descname">check_sanity</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.check_sanity"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.check_sanity" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.copy">
<code class="descname">copy</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.copy"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.copy" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="staticmethod">
<dt id="pypcd.pypcd.PointCloud.from_array">
<em class="property">static </em><code class="descname">from_array</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.from_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.from_array" title="Permalink to this definition">¶</a></dt>
<dd><p>create a PointCloud object from an array.</p>
</dd></dl>

<dl class="staticmethod">
<dt id="pypcd.pypcd.PointCloud.from_buffer">
<em class="property">static </em><code class="descname">from_buffer</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.from_buffer"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.from_buffer" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="staticmethod">
<dt id="pypcd.pypcd.PointCloud.from_fileobj">
<em class="property">static </em><code class="descname">from_fileobj</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.from_fileobj"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.from_fileobj" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="staticmethod">
<dt id="pypcd.pypcd.PointCloud.from_msg">
<em class="property">static </em><code class="descname">from_msg</code><span class="sig-paren">(</span><em>squeeze=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.from_msg"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.from_msg" title="Permalink to this definition">¶</a></dt>
<dd><p>from pointcloud2 msg
squeeze: fix when clouds get 1 as first dim</p>
</dd></dl>

<dl class="staticmethod">
<dt id="pypcd.pypcd.PointCloud.from_path">
<em class="property">static </em><code class="descname">from_path</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.from_path"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.from_path" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.get_metadata">
<code class="descname">get_metadata</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.get_metadata"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.get_metadata" title="Permalink to this definition">¶</a></dt>
<dd><p>returns copy of metadata</p>
</dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save">
<code class="descname">save</code><span class="sig-paren">(</span><em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save_pcd">
<code class="descname">save_pcd</code><span class="sig-paren">(</span><em>fname</em>, <em>compression=None</em>, <em>**kwargs</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save_pcd"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save_pcd" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save_pcd_to_buffer">
<code class="descname">save_pcd_to_buffer</code><span class="sig-paren">(</span><em>compression=None</em>, <em>**kwargs</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save_pcd_to_buffer"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save_pcd_to_buffer" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save_pcd_to_fileobj">
<code class="descname">save_pcd_to_fileobj</code><span class="sig-paren">(</span><em>fileobj</em>, <em>compression=None</em>, <em>**kwargs</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save_pcd_to_fileobj"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save_pcd_to_fileobj" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save_txt">
<code class="descname">save_txt</code><span class="sig-paren">(</span><em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save_txt"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save_txt" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save_xyz_intensity_label">
<code class="descname">save_xyz_intensity_label</code><span class="sig-paren">(</span><em>fname</em>, <em>**kwargs</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save_xyz_intensity_label"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save_xyz_intensity_label" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.save_xyz_label">
<code class="descname">save_xyz_label</code><span class="sig-paren">(</span><em>fname</em>, <em>**kwargs</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.save_xyz_label"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.save_xyz_label" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="method">
<dt id="pypcd.pypcd.PointCloud.to_msg">
<code class="descname">to_msg</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#PointCloud.to_msg"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.PointCloud.to_msg" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.point_cloud_to_path">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">point_cloud_to_path</code><span class="sig-paren">(</span><em>pc</em>, <em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#point_cloud_to_path"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.point_cloud_to_path" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.point_cloud_to_buffer">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">point_cloud_to_buffer</code><span class="sig-paren">(</span><em>pc</em>, <em>data_compression=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#point_cloud_to_buffer"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.point_cloud_to_buffer" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.point_cloud_to_fileobj">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">point_cloud_to_fileobj</code><span class="sig-paren">(</span><em>pc</em>, <em>fileobj</em>, <em>data_compression=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#point_cloud_to_fileobj"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.point_cloud_to_fileobj" title="Permalink to this definition">¶</a></dt>
<dd><p>Write pointcloud as .pcd to fileobj.
If data_compression is not None it overrides pc.data.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.point_cloud_from_path">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">point_cloud_from_path</code><span class="sig-paren">(</span><em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#point_cloud_from_path"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.point_cloud_from_path" title="Permalink to this definition">¶</a></dt>
<dd><p>load point cloud in binary format</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.point_cloud_from_buffer">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">point_cloud_from_buffer</code><span class="sig-paren">(</span><em>buf</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#point_cloud_from_buffer"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.point_cloud_from_buffer" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.point_cloud_from_fileobj">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">point_cloud_from_fileobj</code><span class="sig-paren">(</span><em>f</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#point_cloud_from_fileobj"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.point_cloud_from_fileobj" title="Permalink to this definition">¶</a></dt>
<dd><p>Parse pointcloud coming from file object f</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.make_xyz_point_cloud">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">make_xyz_point_cloud</code><span class="sig-paren">(</span><em>xyz</em>, <em>metadata=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#make_xyz_point_cloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.make_xyz_point_cloud" title="Permalink to this definition">¶</a></dt>
<dd><p>Make a pointcloud object from xyz array.
xyz array is cast to float32.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.make_xyz_rgb_point_cloud">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">make_xyz_rgb_point_cloud</code><span class="sig-paren">(</span><em>xyz_rgb</em>, <em>metadata=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#make_xyz_rgb_point_cloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.make_xyz_rgb_point_cloud" title="Permalink to this definition">¶</a></dt>
<dd><p>Make a pointcloud object from xyz array.
xyz array is assumed to be float32.
rgb is assumed to be encoded as float32 according to pcl conventions.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.make_xyz_label_point_cloud">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">make_xyz_label_point_cloud</code><span class="sig-paren">(</span><em>xyzl</em>, <em>label_type='f'</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#make_xyz_label_point_cloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.make_xyz_label_point_cloud" title="Permalink to this definition">¶</a></dt>
<dd><p>Make XYZL point cloud from numpy array.</p>
<p>TODO i labels?</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.save_txt">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">save_txt</code><span class="sig-paren">(</span><em>pc</em>, <em>fname</em>, <em>header=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#save_txt"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.save_txt" title="Permalink to this definition">¶</a></dt>
<dd><p>Save to csv-style text file, separated by spaces.</p>
<p>TODO:
- support multi-count fields.
- other delimiters.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.cat_point_clouds">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">cat_point_clouds</code><span class="sig-paren">(</span><em>pc1</em>, <em>pc2</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#cat_point_clouds"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.cat_point_clouds" title="Permalink to this definition">¶</a></dt>
<dd><p>Concatenate two point clouds into bigger point cloud.
Point clouds must have same metadata.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.add_fields">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">add_fields</code><span class="sig-paren">(</span><em>pc</em>, <em>metadata</em>, <em>pc_data</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#add_fields"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.add_fields" title="Permalink to this definition">¶</a></dt>
<dd><p>Builds copy of pointcloud with extra fields.</p>
<p>Multi-count fields are sketchy, yet again.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.update_field">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">update_field</code><span class="sig-paren">(</span><em>pc</em>, <em>field</em>, <em>pc_data</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#update_field"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.update_field" title="Permalink to this definition">¶</a></dt>
<dd><p>Updates field in-place.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.build_ascii_fmtstr">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">build_ascii_fmtstr</code><span class="sig-paren">(</span><em>pc</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#build_ascii_fmtstr"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.build_ascii_fmtstr" title="Permalink to this definition">¶</a></dt>
<dd><p>Make a format string for printing to ascii.</p>
<p>Note %.8f is minimum for rgb.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.encode_rgb_for_pcl">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">encode_rgb_for_pcl</code><span class="sig-paren">(</span><em>rgb</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#encode_rgb_for_pcl"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.encode_rgb_for_pcl" title="Permalink to this definition">¶</a></dt>
<dd><p>Encode bit-packed RGB for use with PCL.</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>rgb</strong> – Nx3 uint8 array with RGB values.</td>
</tr>
<tr class="field-even field"><th class="field-name">Return type:</th><td class="field-body">Nx1 float32 array with bit-packed RGB, for PCL.</td>
</tr>
</tbody>
</table>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.decode_rgb_from_pcl">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">decode_rgb_from_pcl</code><span class="sig-paren">(</span><em>rgb</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#decode_rgb_from_pcl"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.decode_rgb_from_pcl" title="Permalink to this definition">¶</a></dt>
<dd><p>Decode the bit-packed RGBs used by PCL.</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>rgb</strong> – An Nx1 array.</td>
</tr>
<tr class="field-even field"><th class="field-name">Return type:</th><td class="field-body">Nx3 uint8 array with one column per color.</td>
</tr>
</tbody>
</table>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.save_point_cloud">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">save_point_cloud</code><span class="sig-paren">(</span><em>pc</em>, <em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#save_point_cloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.save_point_cloud" title="Permalink to this definition">¶</a></dt>
<dd><p>Save pointcloud to fname in ascii format.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.save_point_cloud_bin">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">save_point_cloud_bin</code><span class="sig-paren">(</span><em>pc</em>, <em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#save_point_cloud_bin"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.save_point_cloud_bin" title="Permalink to this definition">¶</a></dt>
<dd><p>Save pointcloud to fname in binary format.</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.pypcd.save_point_cloud_bin_compressed">
<code class="descclassname">pypcd.pypcd.</code><code class="descname">save_point_cloud_bin_compressed</code><span class="sig-paren">(</span><em>pc</em>, <em>fname</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/pypcd.html#save_point_cloud_bin_compressed"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.pypcd.save_point_cloud_bin_compressed" title="Permalink to this definition">¶</a></dt>
<dd><p>Save pointcloud to fname in binary compressed format.</p>
</dd></dl>

</div>
<div class="section" id="module-pypcd.sautil">
<span id="pypcd-sautil-module"></span><h2>pypcd.sautil module<a class="headerlink" href="#module-pypcd.sautil" title="Permalink to this headline">¶</a></h2>
<p>Utilities to operate on structured array files directly,
such as the <code class="docutils literal notranslate"><span class="pre">pc_data</span></code> in <code class="docutils literal notranslate"><span class="pre">PointCloud</span></code> objects.</p>
<dl class="function">
<dt id="pypcd.sautil.flip_around_x">
<code class="descclassname">pypcd.sautil.</code><code class="descname">flip_around_x</code><span class="sig-paren">(</span><em>pc_data</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/sautil.html#flip_around_x"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.sautil.flip_around_x" title="Permalink to this definition">¶</a></dt>
<dd><p>flip a structured array around x, in place</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.sautil.get_xyz_array">
<code class="descclassname">pypcd.sautil.</code><code class="descname">get_xyz_array</code><span class="sig-paren">(</span><em>pc_data</em>, <em>dtype=&lt;type 'numpy.float32'&gt;</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/sautil.html#get_xyz_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.sautil.get_xyz_array" title="Permalink to this definition">¶</a></dt>
<dd><p>get Nx3 array from structured array</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.sautil.get_xyz_viewpoint_array">
<code class="descclassname">pypcd.sautil.</code><code class="descname">get_xyz_viewpoint_array</code><span class="sig-paren">(</span><em>pc_data</em>, <em>dtype=&lt;type 'numpy.float32'&gt;</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/sautil.html#get_xyz_viewpoint_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.sautil.get_xyz_viewpoint_array" title="Permalink to this definition">¶</a></dt>
<dd><p>get Nx3 array from structured array</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.sautil.get_xyzl_array">
<code class="descclassname">pypcd.sautil.</code><code class="descname">get_xyzl_array</code><span class="sig-paren">(</span><em>pc_data</em>, <em>dtype=&lt;type 'numpy.float32'&gt;</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/sautil.html#get_xyzl_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.sautil.get_xyzl_array" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

<dl class="function">
<dt id="pypcd.sautil.transform_cloud_array">
<code class="descclassname">pypcd.sautil.</code><code class="descname">transform_cloud_array</code><span class="sig-paren">(</span><em>T_a_b</em>, <em>pc_data</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/sautil.html#transform_cloud_array"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.sautil.transform_cloud_array" title="Permalink to this definition">¶</a></dt>
<dd><p>transforms structured array. looks for xyz and xyz_origin</p>
</dd></dl>

<dl class="function">
<dt id="pypcd.sautil.transform_xyz">
<code class="descclassname">pypcd.sautil.</code><code class="descname">transform_xyz</code><span class="sig-paren">(</span><em>T_a_b</em>, <em>xyz</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/pypcd/sautil.html#transform_xyz"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#pypcd.sautil.transform_xyz" title="Permalink to this definition">¶</a></dt>
<dd><p>Transforms an Nx3 array xyz in frame a to frame b
T_a_b is a 4x4 matrix s.t. xyz_b = T_a_b * xyz_a
conversely, T_a_b is the pose a in the frame b</p>
</dd></dl>

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<div class="section" id="module-pypcd">
<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-pypcd" title="Permalink to this headline">¶</a></h2>
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